The Advantage of Mounting a Camera onto a Robot Arm

Radu Horaud (1, 2) , Roger Mohr (1, 2) , Fadi Dornaika (2) , Boubakeur Boufama (1, 2)

1 MOVI - Modeling, localization, recognition and interpretation in computer vision
2 LIFIA - Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle

In this paper we describe a method for recovering Euclidean structure of an unknown scene with an uncalibrated camera mounted onto a robot arm. More precisely the method achieves the following tasks : the projective structure of the scene obtained with a projective reconstruction algorithm is converted into an Euclidean structure and the intrinsic camera parameters are estimated as well as the hand/eye calibration parameters. We cast the problem into a simple set of matrix equations and we determine under which motions the solution is unique. Then we provide a simple algorithm for implementing the method in practice. Finally the experimental results obtained with our method are compared with classical camera and hand/eye calibration techniques.

Mots clés: 3D reconstruction; self calibration

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Radu Horaud, Roger Mohr, Fadi Dornaika, Boubakeur Boufama. The Advantage of Mounting a Camera onto a Robot Arm. Europe-China Workshop on Geometrical Modelling and Invariants for Computer Vision, Xian, China, Apr 1995, Xian, China. pp.206--213. ⟨inria-00548389⟩